Nissan Motor Company Limited

Kunihiko Kurami

Norimasa Kishi

Kazunori Noso

Akira Hattori

Tohru Takahashi

Hiroshi Watanabe

Junichi Kasai

Haruhiko Iizuka

Hiroyuki Kamishima

Kiyoshi Akutagawa

Hiroshi Saitoh

To activate an alarm generator mounted on each of other vehicles except opposing vehicles running on an opposing lane, the alarm system for an automotive vehicle which informs other vehicles of the presence of its own vehicle comprises a timing detector for detecting a timing when the alarm system is activated or deactivated; two transmitters for transmitting wide- and narrow-area alarm signals, respectively to other vehicles; two receivers for receiving wide- and narrow-area alarm signals transmitted from another vehicle, respectively; an alarm generator; and a controller for activating the alarm generator when only the wide-area alarm signal transmitted from another vehicle is received.

Vehicle alarm system for informing other vehicles of its own presence

An automatic braking system for a vehicle is provided. This system includes generally a speed sensor for monitoring speed of the vehicle and a distance sensor for monitoring a distance between the vehicle and the preceding vehicle. The system determines a marginal time required for the vehicle to collide with the preceding vehicle based on speed relative to the preceding vehicle and the distance to the preceding vehicle to automatically actuate a brake when the marginal time is shorter than a preselected marginal time.

Automatic braking system with proximity detection to a preceding vehicle

Stereo image data depicting the lane on which the vehicle is running is rectified into a planar image on which one or more level lines can be generated in a manner to intersect one or both of the edges of the lane. Angles are measured between lines which extend from these the points if intersection in directions normal to the level line or lines and lines which extend tangentially to any curvature which occurs in the road edges at the point of intersection. These angles are recorded, the difference therebetween determined and compared in a manner which determines the attitude of the vehicle on the road. The curvature of the road and the vehicle speed are determined and the best steering angle for the road wheels determined in accordance With a schedule which is recorded in terms of attitude and a parameter variable with the vehicle speed and road curvature.

Control System for unmanned automotive vehicle

A method and an apparatus for automatic steering control of an automobile, which can be carried out efficiently by using only one regression equation for calculating a steering angle. In the apparatus, a white line drawn on a road is detected by camera; a distance of the detected white line with respect to a view axis of the camera is determined; the determined distance is transformed into a corresponding distance of the white line with respect to a prescribed point on a central axis of the automobile; a steering angle is calculated according to the obtained corresponding distance; and a steering of the automobile is controlled according to the calculated steering angle such that the automobile follows the white line.

Method and apparatus for automatic steering control of automobile

To smoothly switching the steering direction of the vehicle automatically driven along a road, leftward and rightward steering angles (.theta..sub.L, .theta..sub.R) are obtained on the basis of leftward and rightward white lines and by means of leftward and rightward cameras (7, 8) and image processors (9, 10) and a calculator (12), respectively. The obtained leftward and rightward steering angles are compared by a switching section (3). The steering angle output (.theta..sub.out) is switched to the leftward or rightward steering angle (.theta..sub.L, .theta..sub.R) only when both steering angles first roughly match each other, after the steering angle direction signal has been inputted to the switching section from another travel control unit.

Vehicle steering control apparatus

An image processing section receives data from cameras mounted on the vehicle and produces an image or images from which a first set of so called 'local' data is derived and compiled. A sensor section senses the rotational characteristics of two vehicle wheels and the conditions prevailing on either side of the vehicle and complies a second set of so called 'global' data. The local and global data are compared and data is only accepted in the event that the differences between the two sets of data fall within predetermined limits and data which falls outside of the ranges deemed erroneous and rejected.

Control system for autonomous automotive vehicle or the like

A system for calculating a movement direction and position of a movable object such as an unmanned vehicle running within a factory and a method therefor are disclosed in which an image pick up camera such as a video camera photographs a background of the movable object to generate a background two-dimensional image. Positions of vanishing point and side ends of a passage on which the movable object is to move are derived from the background photographed two-dimensional image. The movement direction of the movable object is derived from the detected vanishing point. Distances of the movable object from both sides ends of the passage are derived on the basis of the detected vanishing point and positions of side ends of the passage. the movement direction and position of the movable object thus detected are used to control movement of the movable object. The vanishing point is detected on the basis of edge directions at all points constituting and edge on the background two-dimensional image.

System and method for calculating movement direction and position of an

An apparatus for model follower control of a robot. The apparatus comprises a source for generating target position data representing a target position for the robot, and an operation pattern generator responsive to the target position data for calculating target angular position data representing target angular positions of the robot for respective control periods. A step input calculating unit calculates step input data based on the target angular position data and the existing robot condition data from a first relationship programmed therein. A reference model responds to the step input data and calculates command data from a second relationship programmed therein. The second relationship is represented by a discrete equation. The command data are used along with the existing robot condition data in controlling the robot in a manner to perform continuous path operation of the robot. The first relationship is represented by an equation derived from the discrete equation used in calculating command data for a control period after a predetermined number of control periods. In another aspect, the reference model has a response characteristic determined by a first pole group and a second pole. The first pole group is set to have the shortest possible time constant, whereas the second pole is set to have a time constant to bring the reference model close to a model having a linear response characteristic.

Model follower control apparatus

A control method and unit for controlling an industrial robot or a manipulator in which a parameter a of a transfer function of a reference model is determined in accordance with the positioning time and a moving angle of the manipulator from the starting point to the end point of control and each of control gains are determined in accordance with the parameter thus determined so as to average or make the positioning time uniform among arm shafts of the manipulator. With this construction, the dispersion of the positioning time among the arm shafts are removed and a high speed positioning control of the manipulator is realized.

Control method and unit for controlling a manipulator

A control system for an multi-articulation robot manipulator in which an electric current used to drive the robot manipulator is detected and compared with a predetermined level band near the saturated current level of the electric current, and a feedback gain is adjusted such that the detected electric current reaches within the predetermined level band.

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Kawasaki, Japan

Kunihiko Kurami